Stabilization of a Tractor with n Trailers in the Presence of Wheel Slip Effects
| Autor: | Mostafa Jalalnezhad, Ali Keymasi Khalaji |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
Tractor
Lyapunov function Lyapunov stability 0209 industrial biotechnology business.product_category Mathematical model Computer science General Mathematics Estimator 02 engineering and technology Computer Science Applications symbols.namesake 020303 mechanical engineering & transports 020901 industrial engineering & automation 0203 mechanical engineering Control and Systems Engineering Control theory Convergence (routing) symbols Point (geometry) business Software Slip (vehicle dynamics) |
| Zdroj: | Robotica. 39:787-797 |
| ISSN: | 1469-8668 0263-5747 |
| DOI: | 10.1017/s0263574720000727 |
| Popis: | SUMMARYThe purpose of this paper is to design a stabilizing controller for a car with n connected trailers. The proposed control algorithm is constructed on the Lyapunov theory. In this paper, the purpose of navigating the system toward the desired point considering the slip phenomenon as a main source of uncertainty is analyzed. First mathematical models are presented. Then, a stabilizing control approach based on the Lyapunov theory is presented. Subsequently, an uncertainty estimator is taken into account to overcome the wheel slip effects. Obtained results show the convergence properties of the proposed control algorithm against the slip phenomenon. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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